JoshandClaude Sonnet 4.6
9b0a5a9926
- Fix atan2 sign bug: atan2(-yHeading, xHeading) per Freescale AN4248 eq.22. The previous atan2(yHeading, xHeading) produced counter-clockwise angles, causing East/West to be swapped relative to compass convention. - Add imuSetMagneticDeclination() (T:146, field "decl") to correct the offset between magnetic north and true north (iPhone shows true north). Value is persisted in imuConfig.json across reboots. - Add imuSetHeadingOffset() (T:147, field "off") to compensate for sensor mounting orientation on the rover. Also persisted. - Persist decl and hOff in imuConfig.json (version 2, backwards compatible). - Fix calibration feedback for web interface: T:126 now includes calDone=1 (success) or calDone=0 (fail) once after calibration completes, plus decl and hOff fields. Calibration start message explains polling procedure. - Remove duplicate #include <nvs_flash.h> and unused Adafruit ICM20948 includes that caused build failures when libraries were not installed. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
48 lines
1.3 KiB
C
48 lines
1.3 KiB
C
#ifndef _IMU_H_
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#define _IMU_H_
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#include "AK09918.h"
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#include "QMI8658.h"
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#include <stdio.h>
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#include <math.h>
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typedef struct imu_st_angles_data_tag
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{
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float fYaw;
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float fPitch;
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float fRoll;
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}IMU_ST_ANGLES_DATA;
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typedef struct imu_st_sensor_data_float
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{
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float X;
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float Y;
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float Z;
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}IMU_ST_SENSOR_DATA_FLOAT;
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void imuInit();
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void imuDataGet(EulerAngles *pstAngles,
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IMU_ST_SENSOR_DATA_FLOAT *pstGyroRawData,
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IMU_ST_SENSOR_DATA_FLOAT *pstAccelRawData,
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IMU_ST_SENSOR_DATA *pstMagnRawData);
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bool imuRecalibrate();
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void imuGetMagnOffsets(IMU_ST_SENSOR_DATA *pstMagnOffset);
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void imuSetMagnOffsets(int16_t offsetX, int16_t offsetY, int16_t offsetZ);
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bool imuHasHeadingCalibration();
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bool imuHasStoredMagnCalibration();
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bool imuIsMagnCalibrationRunning();
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uint8_t imuGetMagnCalibrationProgress();
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bool imuStartMagnCalibration(uint32_t durationMs = 12000);
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bool imuLoadMagnCalibration();
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bool imuSaveMagnCalibration();
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float imuGetTemperature();
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void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
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float invSqrt(float x);
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void imuSetMagneticDeclination(float deg);
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float imuGetMagneticDeclination();
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void imuSetHeadingOffset(float deg);
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float imuGetHeadingOffset();
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int8_t imuPopLastCalStatus();
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#endif
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